Research on the Stability of Biped Robot Walking on Different Road Surfaces

Balance research is the key to achieving stable walking of biped robots. Firstly, based on zero moment point and kinematics theory, this paper will analyze and calculates the pose of biped robot in D-H coordinate system. Secondly, this paper will use Arduino UNO as main control board, li-ion battery and servo motor. Through the communication between the Arduino UNO and the servo motor driver board, the control signals of the servo motor are transmitted so that the robot can perform such actions as lifting the leg, stepping forward, and moving the left and right hip joints. Finally, we will feedback the position of the center of gravity of the biped robot through the three-dimensional angle sensor. Meanwhile, we will utilize the fuzzy control theory to make the biped robot walk on different road surfaces. The experimental results will prove that our method is feasible.